Methods and apparatus for reconfigurable power exchange for multiple uav types

ABSTRACT

A reconfigurable system capable of autonomously exchanging material from unmanned vehicles of various types and sizes. The system comprises an environmental enclosure, a landing area, a universal mechanical system to load and unload material from the unmanned vehicle, and a central processor that manages the aforementioned tasks. The landing area may comprise a one or more visible or non-visible markers/emitters capable of generating composite images to assist in landing the unmanned vehicle upon the reconfigurable, autonomous system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to U.S. Prov. Apps.62/237,245 filed Oct. 5, 2015, and 62/265,703 filed Dec. 10, 2015, eachof which is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

Unmanned Aerial Vehicles (UAVs) are increasingly being used forcommercial applications. Examples include, but are not limited to,inspections of railway lines, inspection of electrical power lines,monitoring of quarry sites and construction sites. Larger than consumerUAVs, commercial UAVs are commonly powered by, but not limited to,batteries. Currently, the primary limitation of the range andcapabilities for commercial UAVs is battery technology. With the latestbreakthroughs and higher power densities, UAVs are capable of up toaround 30 minutes of flight with a useable payload. Current UAVs requiremanual exchange of said power systems, requiring a man in the loop forevery flight. While rendering the UAV effective for consumer use,battery technology and the automation of exchanging them is the keylimiting factor to the commercial realization and wide-spread use ofUAVs.

SUMMARY OF THE INVENTION

The Reconfigurable Power Station (RPS) for Multiple UAVs is designed toextend the range and capabilities of multiple, and possibly disparate,unmanned systems. In this embodiment we discuss in detail the RPS systemwhen interfacing with UAVs. The RPS system will detect a signal from aUAV requiring a new Swap Cartridge (SC), and using identifiers,including vehicle type, vehicle SC, status of SC, and vehicle location,will make a determination for landing. As the vehicle closes to within athreshold distance of the RPS, which may include, but are not limited to1 foot, 3 feet, 6, feet, 10 feet, 20 feet, etc. above the station, theUAV will be guided to the RPS utilizing sensors embedded into theUniversal integrated Swap system (UIS) onboard the vehicle and a seriesof visible or non-visible illuminators embedded into the landing zonedeck to make final approach and land. Once landed, the RPS will deploy alanding gear retention system to mechanically and electrically connectto it. This is but one embodiment of the RPS as this problem is notlimited to UAVs, but to many forms of unmanned systems, including, butnot limited to, ground vehicles, underground vehicles, water surfacevehicles, underwater vehicles, and space vehicles.

The RPS System is designed to house multiple power cartridges, in one ormultiple modular power bays. These modular power bays are designed to beself-contained housing and replenishment units. Modular Power Bays(MPBs) are capable of housing multiple types and sizes of SCs, and mayinclude, but not limited to, electric batteries, hydrogen fuel-cells, orfossil fuels. The data the RPS received prior to the UAV landing mayenable the onboard processing system to make a determination and selectthe appropriate type and quantity of SCs. Utilizing a transfer systemcoupled with an elevator, SCs are transferred from the MPBs to thelanding zone. An example embodiment of the described system is: The SCtransfer mechanism moves to locate the UIS on the landed UAV. Oncelocated, the swapping mechanism withdraws the depleted SC from thesystem and moves the SC to an available MPB, inserting it forreplenishment. Following the transfer of the SC, the swapping mechanismmoves to a bay with the appropriate replacement SC for the UAV, asdirected by the onboard processing system, and retrieves a fullyenergized SC. From there it will be elevated to the landing zone via anelevator or other mechanical actuation system. Once the swappingmechanism locates the UIS, it inserts the energized SC into the SwapCartridge Receptacle (SCR) onboard the UAV. With the SC swap completeand the swapping mechanism stored below the landing zone deck, the UAVdeparts the RPS and resumes its flight.

In one embodiment, a power station for unmanned aerial vehicles maygenerally comprise an enclosure defining a surface and an interior, anda landing zone positioned upon the surface and sized to receive one ormore UAV types, wherein the landing zone has one or more markers oremitters configured to generate one or more composite images when a UAVis in proximity to the landing zone.

In another embodiment, the reconfigurable power station for unmannedaerial vehicles may generally comprise a housing defining a surface, amodular power bay positioned within the housing, the modular power baydefining one or more receiving bays for retaining a corresponding powercartridge, a landing zone positioned upon the surface and sized toreceive one or more UAV types, wherein the landing zone has one or moremarkers or emitters configured to generate one or more composite imageswhen a UAV is in proximity to the landing zone, and a central processorin communication with the one or more markers or emitters.

One method of swapping a power supply in an unmanned aerial vehicle maygenerally comprise emitting one or more composite images to a UAV viaone or more markers or emitters when the UAV is in proximity to alanding zone located on a reconfigurable power station (RPS),determining an orientation of the UAV relative to the landing zone afterthe UAV has landed, removing a first swap cartridge from the UAV via aswapping mechanism within the RPS, and installing a second swapcartridge from the RPS and into the UAV.

In yet another embodiment, a UAV reconfigurable power station (RPS) maygenerally comprise a dynamic terminal landing system (DTL) configured tosupport autonomous landing of a UAVs on a landing zone, wherein the DTLcomprises a UAV landing zone that is reconfigurable for multiple UAVtypes and sizes and is further configured to support landing, exchanginga swap cartridge, and take-off operations; a power source capable ofpowering a UAV flight system once on the landing zone; one or moremodular power bays (MPBs) capable of housing multiple instances of agiven universal swap cartridge (SC); a universal swap cartridge swappingmechanism configured for manipulating multiple SC types and sizes; a RPScentral processor (CP) configured to support operations of the RPS; anda sensor positioned within the RPS.

Additionally, the RPS may further comprise a universal swap cartridgeprocessor (USP) configured to interact with the RPS; one or moreuniversal swap cartridge receptacles (SCRs) configured to mechanicallyand electrically connect a SC to a UAV; one or more SCs; and an externalmarker positioned on the SC that allows the RPS to determine a positionof the SC after the UAV has landed to allow for swapping of a depletedSC.

In yet another embodiment, a UAV reconfigurable power station (RPS) maygenerally comprise a UAV landing zone that is reconfigurable formultiple UAV types and sizes and is further configured to supportlanding, exchanging a swap cartridge, and take-off operations; a dynamicterminal landing system (DTL) configured to support autonomous landingof UAVs on a landing zone; a power source capable of powering a UAVflight system once on the landing zone; one or more modular power bays(MPBs) capable of housing multiple instances of a given universal swapcartridge (SC); a universal swap cartridge swapping mechanism configuredfor manipulating multiple SC types and sizes; a RPS central processor(CP) configured to support operations of the RPS; and sensors positionedwithin the RPS.

Additionally, the RPS may further comprise a universal swap cartridgeprocessor (USP) configured to interact with the RPS; one or moreuniversal swap cartridge receptacles (SCRs) configured to mechanicallyand electrically connect a SC to a UAV; one or more SCs; and an externalmarker positioned on the SC that allows the RPS to determine a positionof the SC after the UAV has landed to allow for swapping of a depletedSC.

Additionally, the RPS may also further comprise a landing zone havingvisible or non-visible markers to create a composite image to aid in thelanding of the UAV; and a composite image utilizing visible ornon-visible illuminators on or embedded in the landing zone which areconfigured to form scalable composite images in response to a UAV typeand altitude above the RPS landing zone.

In yet another embodiment a Universal Swap Cartridge Processor (USP) maygenerally comprise a housing configured to be integrated into a UAVflight controller or airframe; a processor within the housing andconfigured to control an automated landing and launch of a UAV from anRPS; an external transmitter capable of wirelessly transmitting a powersource health and identifying data of an SC to the RPS, other UAVs inproximity, or other ground stations; an external receiver capable ofwirelessly receiving data from the RPS, other UAVs in proximity, orother ground stations, wherein the USP is configured to relay data to aUAV or UAV flight controller; and one or more cameras configured tocapture visible and/or non-visible data from a landing zone located onan RPS.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanyingfigures.

FIG. 1a is a perspective view of one embodiment of the ReconfigurablePower Station (RPS) including an unmanned aerial vehicle (UAV) in use ofthe station.

FIG. 1b is a perspective view of another embodiment of the RPS.

FIGS. 2a-2b are schematic illustrations of a block diagram of subsystemsthat constitute an example embodiment of a RPS.

FIGS. 3a-3b are illustrations of an embodiment of a Universal IntegratedSwap System (UIS) for an unmanned aerial vehicle embodiment.

FIGS. 4a-4b are schematic illustrations of a block diagram of themethodology for a swap cartridge (SC) exchange on an embodiment of anRPS.

FIGS. 5a-5b are perspective views of the dynamic terminal landing systemin accordance with embodiments.

FIGS. 5c-5e are perspective views of another variation of the dynamicterminal landing system (DTL).

FIG. 6 is a side view of a shore power system supplying power to alanded UAV in accordance with embodiments.

FIGS. 7a-7b are perspective views of example embodiments of a modularpower bay and associated SCs.

FIGS. 8a-8b are perspective views of example embodiments of an assembledSC.

FIGS. 9a-9b are rear views of example embodiments of an external markerfixed to the surface of an SC.

FIGS. 10a-10b are exploded views of example embodiments of an SC.

FIG. 11 is a perspective view of a Universal Integrated Swap system(UIS) and associated features in accordance with embodiments.

DETAILED DESCRIPTION OF THE INVENTION

The following is a detailed description of an embodiment of theinvention, as well as the systems and methods utilized in order toprovide extended capabilities to UAVs. It is understood that the variousembodiments of said invention are considerate of the functionalcapabilities of various UAV scales and frames. An example would includeproportionally smaller aerial vehicles that have varied acceptableflight conditions for safe operation. In consideration of the devicehaving universal applications, the parts and complexity of theassociated system may vary depending upon the applied platform. Otherembodiments of the RPS 100 system may be able to fulfill a similar roleto the embodiment described here with respect to other unmanned systems,including but not limited to, surface vehicles, underground vehicles,water surface vehicles, underwater vehicles, and space vehicles.

The utilization of a reconfigurable power system in this embodiment, asshown in the perspective view of FIG. 1a , is intended to extendeffective flight range and flight time of a desired UAV 108 by offeringa universal system in which UAVs 108 are capable of exchanging depleteduniversal Swap Cartridges (SCs) 110 for energized cartridges. Onevariation of a SC 110 may comprise a power supply or power cartridge inwhich a depleted power cartridge may be exchanged for an energized powercartridge. The various embodiments of SC 110 are not intended to belimiting as various other types of payloads may be utilized as swappablecartridges. The Reconfigurable Power System (RPS) 100 is intended to bea fully autonomous solution for SC 110 exchange. The RPS, which iscapable of communications with the UAV 108 via the Universal IntegratedSwappable system (UIS) 300 installed aboard the UAV 108, may becontained within a housing or an environment enclosure 104 and willdetect whether the user or mission control of said UAV 108 determinesthe desire for exchange of a SC 110 and will engage the UAV 108 into theSC 110 exchange protocol.

In the considered embodiment of the RPS 100, one can be comprised of,but not limited to, a UAV landing zone 102 configurable for a multitudeof UAV types and sizes, a dynamic terminal landing system (DTL) forautonomous UAV landing, a power source capable of powering the UAVflight control system when landed 600 (as described in further detail inFIG. 6 herein), a modular power bay (MPB) 700 which may house multipleSCs 110, a universal SC swapping mechanism 112 to advance the exchangeof multiple SCs 110, a central processor 218, and associated sensors 222allowing appropriate tracking/detecting of the UIS 300 aboard the UAV108, as described in further detail below. The swapping mechanism 112may be contained within the environment enclosure 104 when not in usebut may be deployed through an opening door or mechanism andautomatically positioned into proximity to the UAV 108 when swapping theSC 110. An RPS 100 may be deployed in any number of environments 200 ofwhich include, but are not limited to, farms, fields, deserts,industrial plants, water banks, and urban zones. The RPS 100 may becontrolled directly in close physical proximity or remotely. Atransmitter and receiver 106 may be integrated with the RPS 100 tofacilitate wireless communications, e.g., with the UAV 108 or with aremotely located controller or interface. An internal power source 206allows for operations without an external power source 202 for a setperiod of time. RPS 100 may have provisions for various types ofexternal power 202 including, but not limited to: electrical grid,hydrocarbon generator, or solar power.

FIG. 1b illustrates a perspective view of another embodiment of an RPS100′ which may also incorporate the housing or environment enclosure104′. The UAV landing zone 102′ may be positioned atop the enclosure104′, as above, and the enclosure 104′ may also incorporate atransmitter and receiver 106 to facilitate wireless communications.While the RPS 100 described above incorporates a landing zone 102 and aswapping mechanism 112 deployable from within the enclosure 104, the RPS100′ embodiment may incorporate the swapping mechanism in a housingwhich is positioned or positionable adjacent to the UAV landing zone102′.

The aforementioned UIS 300, which is illustrated as an assembly in FIG.1, is adaptable or otherwise securable to the independent frame of theUAV 108 utilizing the capabilities of the RPS 100. The assembly of theUIS 300, in one embodiment, may be implemented as illustrated in theperspective views of FIGS. 3a and 3b . As shown in FIG. 3a , the UIS 300is illustrated in an assembly view relative to the UAV 108 and multipleSCs 110 are also shown as being insertable or attachable within the UIS300. As illustrated in the assembly view of FIG. 3b , the UIS 300 (showndetached from the UAV 108 for illustrative purposes), generally forms areceiving structure having a universal Swap Cartridge Receptacle (SCR)1104 which may have one or more receiving guides defined. A SC swappingadapter 302 (and described in further detail below) may be deployed fromthe RPS 100 while carrying a SC 110. When the UAV 108 has landed uponthe platform 102 and is ready to receive a SC 110, the SC swappingadapter 302 and SC 110 may be aligned with the receiving channel of theUIS 300 which may then receive the SC 110 for electrical coupling.

Included as part of the UIS 300 assembly may be a Universal SwapProcessor (USP) 1102, one or more SCRs 1104, one or more SCs 110, and anexternal marker 1114 for identification and tracking of the UIS 300, asfurther shown in FIG. 11. A UIS 300 may be directly integrated into agiven UAV 108 structure by an Original Engineering Manufacturer (OEM) oradapted to an existing UAV 108 structure. An example embodiment of adirectly integrated UIS 300 may have the SCR 1104 merged with theprimary structure, the UPP 1102 pan of the flight controller board, andthe optical sensor 1108 integrated directly into the exterior of thevehicle. A UIS 300 is utilized by the UAV 108 for interaction and SC 110swapping with an RPS 100. Furthermore, the USP 1102 may comprise one ormore cameras which are configured to capture the visible and/ornon-visible data (e.g., one or more composite images which are scalable)transmitted from the landing zone 102. Within a UIS 300, SCR(s) 1104 maybe electrically connected to the USP 1102 to provide SC data including,but not limited to, SC health, SC power status, SC payload status, andSC type. The previous embodiment is capable of being powered by theembedded battery that is a part of the USP 1102 while SC(s) 110 are notinstalled in the system.

The aforementioned universal Swap Cartridge (SC) 110, which isillustrated in the variations of FIGS. 8a and 8b , is compatible withthe associated UIS 300 and provides power or payload to the equipped UAV108. The variation shown in FIG. 8a may incorporate a housing orexternal sleeve 1010 having a tapered portion while the variation shownin FIG. 8b may have a housing or external sleeve 1010′ which isnon-tapered. The SC 110 is designed, but is not limited, to providepower to the equipped UAV 108 propulsion system. An embodiment as shownin FIGS. 8a and 8b could include one or more power and/or signalconnectors 1000, programmable storage and data mediums 1002, desiredpower storage medium, desired payload, paired tracks 1008 for matingwith and removal from the UIS 300, unique identifiable marker 900, andmechanical locking mechanism 1006. The end views of FIGS. 9a and 9billustrate the unique identifiable markers 900, 900′ (e.g.,2-dimensional or 3-dimensional barcodes, etc.) positionable upon theexternal housing for optical reading and recognition. The paired tracks1008 which are positioned along the sides of the housing or sleeve 1010and extend longitudinally may be comprised of one or more projections(such as a rack gear) for providing traction when received by the SCR(s)1104 of the UIS 300.

Primary construction of a SC 110 is defined as a housing or an externalsleeve 1010 that houses the desired medium 1004, which includes but isnot limited to, battery, fossil fuel, fuel cell, or payload, as shown inthe exploded assembly view of FIGS. 10a and 10b . Additionally, SCs 110may contain more than one power medium 1004 within the case to be ableto facilitate more alternative systems, including but not limited to,hybrid propulsion systems. The connectors 1000 integrated into the SC110 is electrically connectable to the electrical connectors 1106positioned within the UIS 300 (as shown in FIG. 11) and when connectedwill be able to transfer power or applicable data that is unique to theindividual SC 110. This information may include: power source data,power sources specification, power sources health data, payload status,payload data, UAV type, compatibility type, serial numbers, productnumbers, and/or owner. The SC 110 may contain a unique marker 900 whichstores pre-programmed information. This pre-programmed information mayassist identifying the type and compatibility of the observed SC 110.Furthermore, the marker 900 may assist in the location of one or moreSCs 110 and removal of said SCs 110 from the landed UAV 108. The SC 110may alternatively house internal markers, such as RFID tags, actingsimilarly to the aforementioned unique external marker 900. Data pulledfrom the SC 110 may be stored locally at the RPS 100 and may be usedinternally by the RPS 100 system in operation and/or accessed remotelyby an operator or external system.

Unique external features, such as smooth rails or racks 1008, areimplemented to allow facilitation of installation, storage, and removalof said SCs 110. In order to ensure proper containment, provisions, suchas, but not limited to, a physical interface may be implemented formechanical locking of individual SCs 110 within the UIS 300 duringflight of a UAV 108, landing of a UAV 108, UAV 108 resting on stationaryor mobile platform, or storage within a modular power bay. A SC 110 maybe a variety of sizes to accommodate the variety of UAV designs andtypes. Upon an external power source supplied to a RPS 100, a SC 110housed in a MPB 700 will be energized to nominal conditions. Saidenergized SC 110 may remain physically constrained and may be stored innominal conditions. The embodiment in FIG. 10b shows components whichare numbered similarly with corresponding components as shown in FIG. 10a.

The aforementioned universal Swap Cartridge Receptacle (SCR) 1104, whichis illustrated in FIG. 11, is compatible with all proposed SC 110, MPB700, and UIS 300 components. The SCR 1104 may be comprised of, but isnot limited to, a positive mechanical solution for mechanicalcontainment of SCs 1112, electrical connectors 1106 for transmission ofpower and/or signal transmissions of associated SCs 110, and physicalfeatures to accommodate various UAV styles and sizes. A SCR 1104 may beresponsible for supplying power from a connected SC 110 to a UAV 108. ASCR 1104 is responsible for mechanically retaining a SC 110 during allmodes of flight. A single or multiple instances of a SCR 1104 may beused on a single UAV 108.

The aforementioned USP 1102, which is illustrated in FIG. 11, iscompatible with associated UISs 300 and SCs 110. A USP 1102 may becomposed of, but is not limited to, a processor to facilitatecommunication between RPS 100 and UAV 108, an external electromagnetictransmitter 1110 capable of system and SC data transfer, an externalreceiver 1110 capable of communication with one or more RPSs 100, UAVs108s in proximity, and/or other stations, a relay for commands frompilot to flight controls and vice versa, one or multiple sensors forvisible and/or non-visible data from RPS 100 or environment, and anembedded battery to facilitate system functions independent of the SC110. A USP 1102 utilizes a wireless protocol to communicate with an RPS100, and is designed to transmit data, which may include SC health data,SC type, and payload data. The USP 1102 may act as a pass-through forflight input data between external sources and the flight controller ona UAV 108. A UPP 1102 system may be designed to be installed on multipleUAV 108 types and multiple UAV 108 sizes. These installations may bedirectly integrated into the UAV 108 frames.

The aforementioned Landing Zone 102, which is illustrated in the sideview of FIG. 6, is designed for the purpose of physically supporting andrestraining a UAV 108 while landed at an RPS 100 during a SC 110exchange. It may be designed to secure a UAV 108 for a period of timevia one or more mechanical retaining mechanisms which may temporarilyattach or otherwise secure the UAV 108 during swapping of the SC 110,e.g., via securement with the landing gear of the UAV 108. The landingzone 102 is designed to supply power to the UAV 108 during the SC 110exchange, including but not limited to, powering flight control systemsand payloads via the UIS 300 which may be done through an electricaland/or mechanical engagement mechanism 600. The landing zone 102 mayaccommodate one or more UAVs 108s simultaneously. The RPS 100 may haveone or more landing zones 102.

The aforementioned Dynamic Terminal Landing system (DTL), which isillustrated in FIGS. 5a to 5e , may be comprised of, but not limited to,landing deck(s) 102 and one or more visible or non-visiblemarkers/emitters 500, 502, 504 capable of generating composite images.This system of markers may be arranged in patterns or arrays that allowthe system to create identifiable imagery. The composite imagery can besuperficial or embedded into the landing deck 102, of which may or maynot be a smooth or textured surface to aide in landing. The compositeimagery size are scalable and may vary from, e.g., 1 inch by 1 inch andbe as large as 26 inches by 26 inches, or larger. For example, acomposite image may be a QR barcode or AprilTag. Depending upon a UAV's108 location above a RPS 100, the composite image may change its size(e.g., in real-time) to aide in the landing of the UAV 108 depending onthe distance to the UAV 108, as shown in the perspective view of FIGS.5a and 5b , which shows a predetermined pattern upon the landing zone102 which may be reduced in size in a corresponding manner as the UAV108 approaches the landing zone 102. These distances may include, butare not limited to, e.g., 1 foot, 3 feet, 6, feet, 10 feet, 20 feet,etc. above the station. Dependent upon the drone type and size, theimage displayed for landing may change to optimize the landing of saidvehicle. Dependent upon the height of the system, the composite imagesmay move in addition to vary in size in aiding in the landing of the UAV108. The DTL is capable of operating on the internal power of the RPS100. Similarly, FIGS. 5c to 5e illustrate how the visible or non-visiblemarkers/emitters 500, 502, 504 may change its pattern and/or change insize as the UAV 108 approaches the landing zone 102.

The aforementioned Modular Power Bay (MPB) 700, which is illustrated inFIGS. 7a and 7b , is capable of housing multiple instances of SCs 110within itself for storage or replenishment and is stored within the RPS100. Universal Swap Cartridge Receptacle (SCR) 1104 installations withinthe MPB 700 allow for SCs 110 to be utilized similarly as the UIS 300. AMPB 700 may contain a homogenous or heterogeneous mixture of SC typesand may contain one or more SCs 110 at any point in time. MPBs 700 aredefined as line replaceable units (LRUs), which allow for one or moreMPBs 700 to be transported, installed, or utilized within one or moreRPS 100s. With the MPB 700 being an LRU, it allows for variable SC 110storage within a RPS 100, thus providing the possibility of servicing amultitude of UAV 108 types and sizes from the same or joined network ofRPS 100s. Utilization of a MPB 700 separate from the box can allow forstandalone transportation and servicing of SCs 110 or MPBs 700.Furthermore, the MPB 700 may be configured to store the one or more SCs110 in various configurations. For instance, FIG. 7a shows one variationwhere the MPB 700 may be configured to store the SCs 110 in a stackedmanner where the individual receiving bays 703 may be positioned atopone another. FIG. 7b shows a perspective view of another arrangementwhere the receiving bays 703 of the MPB 700 may be aligned in asymmetric arrangement, for example, in a two-by-two arrangement asshown. Depending on the positioning of the receiving bays 703, the SCswapping adapter 302 may be positioned in proximity to the appropriatebay 703 for storage or retrieval of an SC 110.

The aforementioned SC Swapping Mechanism 112, which is illustrated inFIG. 1, may be adjustable to receive a multitude of SCs 110, which maybe used with a multitude of UAV 108 sizes and types. The swappingmechanism 112 may be implemented with an array of sensors or detectorsto allow for the determination of the UIS 300 location. The capabilitiesof said mechanism 112 permit the exchange of one or more SCs 110. Theexchange of SCs 110, via the swapping mechanism 112, is facilitatedbetween one or more depleted SCs 110 of a UAV 108. Said depleted SCs 110may be exchanged with one or more of any desired replacement SCs 110, ofwhich are stored within the MPBs 700 of the RPS 100. The swappingmechanism 112 may facilitate motion for transfer with inertia of adepleted SC 110. The swapping mechanism 112 is also capable offacilitating SC swap via an elevating system or another mechanicalsolution. The swapping mechanism 112 may facilitate advancement of a SC110 with the motion of a rotary system. This system allows for theremoval and loading of a SC 110 into a UIS 300 and a MPB 700. The RPS100 that the swapping mechanism 112 is housed within is capable offacilitating SC exchange of the UAV 108 while it is positioned and atrest on an associated DTL.

The aforementioned Reconfigurable Power System Central Processor(RPS-CP) 218 is utilized within the RPS 100 to facilitate the systemfunctions of the RPS 100, as shown in the schematic diagram of FIG. 2a .These functions may include, but are not limited to, external/internalenvironmental monitoring 224, environmental control system (ECS) control232, UIS data transfer, RPS data storage 230, safety systems control,and MPB and SC state monitoring 226. RPS-CP primary function is tocoordinate and execute the swapping of SCs 110 for a UAV 108 asdescribed in FIG. 4.

During normal operations of an RPS 100, the RPS-CP may be observingenvironmental conditions. These conditions include both conditionswithin/on the RPS 100 and conditions about/around the RPS 100. Theconditions around the deployed RPS 100 that may be monitored couldinclude, but are not limited to, ambient temperature, ambient pressure,ambient wind speed, ambient wind direction, ambient humidity, andvisibility. These conditions, in accordance with predeterminedlimitations for the UAV 108, may determine the flight readiness of theUAV 108 for a mission at any given time. The conditions detected by theRPS 100 and the vehicle of which is to be deployed or stationed may becommunicated via the RPS-CP to the UAV 108, the RPS 100, and/or acommand center determined preferred by the user. The flightworthinessdetermination of any specific UAV 108 or its mission may be communicatedvia the RPS-CP to a mission planner or a central command center. Withinthe RPS 100, the RPS-CP will be observing various environmentalconditions in order to provide ideal operating and storage conditions ofall the functioning systems that may be enclosed within an RPS 100.

In accordance with all aforementioned, and any more appropriateinstalled systems, the system observed data monitored by the RPS-SC maybe retained in an internal storage medium 230. This data storage mediummay be located within the RPS 100 or in communication of the RPS 100.Communications with the RPS 100, with any form of desired data networkor any connected device, wired or wireless, may be conducted via atransmitter and receiver 106 on board the RPS 100. This transmitter andreceiver 106 may be controlled via the RPS-CP to access desiredinformation from the RPS 100 and all its associated systems.

Generally, the RPS 100 can be seen in the schematic illustration of FIG.2a showing an example of the RPS 100 within a deployed environment 200.The RPS 100 may be in electrical communication with an external energysource 202 which may charge or power an internally contained energystorage system 206 which is contained within the power system 204. Theenergy storage system 206 may distribute power via a power distributionsystem 208 to the various components within the RPS 100 such as thedynamic terminal landing platform 210 as well as the mechanicalelevation solution 112. The dynamic terminal landing platform 210 mayinclude a mechanical and/or electrical connection 212 which maytemporarily couple to the UAV 108 after landing on the UAV landing zone102 in reference to the electrical and/or mechanical link 600 shown inFIG. 6.

The mechanical elevation solution 112 may facilitate the transport ofthe SC 110 from one of the preselected modular power bay 700 (e.g., Nmodular power bays) which may also be in communication with an energyreplenishment system 214 which may charge the one or more SC 110contained within the modular power bay 700. The MPB status monitor 216may also be incorporated within the modular power bay 700 for obtaininga status of each of the SC 100.

As described above, the RPS central processor 218 may incorporate a RPSdata storage 230 module and one or more sensor systems 220 which monitorthe status of the various components within the RPS 100. For instance,aside from the external environment sensors 224, a UIS location sensor222 may be in communication with the mechanical elevation solution 112to monitor and/or control a positioning of the solution 112 relative tothe UIS 300 of a landed UAV 108. Also, a MPB state monitor system 226may be in communication with the MPB status monitor 216 so as to monitora status of the modular power bay 700. The RPS system state sensors 228within the sensor systems 220 may be in communication with the RPSenvironment control system 232.

While the RPS 100 may be self-contained, the RPS system may be in wiredor wireless communication through the transmitter and receiver 106within the RPS central processor 218 with a remotely located systemthrough a communication network 234 for transmitting and/or receivingdata as well as instructions.

Within the RPS 100 system, schematic diagrams of some of the sub-systemsare shown in FIG. 2b . With reference to the UIS 246 which is secured tothe UAV, retains the SC 110, and interacts with the RPS 100, the UIS 246may generally include an SC detainment tool 248 for retaining orsecuring the SC 110 during flight. A mission data storage medium 250, PCadaptor tools 252, RPS communication system 254, as well as flightsensors 256 may also be incorporated.

The dynamic terminal landing platform 212 may include a platformmobility system 258 which controls and monitors the retrieval of the SC110. As part of the platform mobility system 258, a UAV retainingfeatures 260 may be incorporated, as described herein, as well aslocation sensors 262 for locating the position and orientation of theUAV. This may include a physical platform tag 264 as well aselectro-optical arrangement 266 for determining the position andorientation.

The power system 274 may include the power distribution 278 which inturn includes the external power distributor 276 and internal powerstorage solution 280 for controlling and/or monitoring the power whenreceiving from or delivering to an external source and/or when chargingor powering the internal systems. The external power distributor 276,for instance, may be in communication with the dynamic terminal landingplatform 212 for controlling and/or monitoring the charging of the UAVsystems when landed. The power distribution 278 may also power thevarious mechanical system controllers 284, RPS system controllers 286,as well as the MPB replenishment systems 282.

The mechanical elevation solution 112 may also include a verticalelevator system 268 for lifting and/or lowering the SC 110 from or tothe modular power bay 700. This may include a swap cartridge transportsolution 270 as well as the UIS location system 272 for also locatingthe position and orientation of the UIS upon the UAV.

The MPB support structure 238 may include the modular power bays 700which includes the swap cartridge connections 240 and environmentalcontrol system 244. The swap cartridge connections may include the oneor more SC 110 as well as the SC status tool 242.

Additionally, the RPS system door 288 may also be seen which includes adoor actuation system 290. The RPS system door 288 may be opened whenswapping out the SC 110 from a landed UAV or closed when not in use orafter a UAV has departed the RPS.

The schematic diagram of FIG. 4a , in accordance with some or allaforementioned components, illustrates one example of a method of SC 110exchange for with an embodiment of an RPS 100. A UAV 108 may utilize anRPS 100 for the purposes of, but not limited to, SC replenishment, safestowing, and/or data transmission, etc. A UAV 108, via somepredetermined (external to the RPS 100 system) conditions, the UAV 108may request for permission 400 to land onto an RPS 100, where therequest is transmitted via the USP 1102. When approved by the RPS-CP inthe RPS 100, the active UAV 108 is assigned a position in the landingqueue 402. When an RPS 100 is available, said RPS 100 providespermission 404 to land to the appropriate UAV USP 1102. The USP 1102then guides the landing UAV 108 onto an RPS 100 utilizing the DTL system410.

After the successful landing of a UAV 108 onto the RPS 100, the RPS 100may begin to access and download 408 mission and/or payload data fromthe landed UAV 108 via the USP 1102. The data may be stored within theRPS data storage or transmitted to a separate location via a wired orwireless transmission 406.

The landed UAV 108 may also establish 412 an electrical and/ormechanical link 600 with the RPS 100. The RPS 100 may now begin a search414 for the UIS 300 which may be adapted to the landed UAV 108. Uponlocation of the UIS 300 of the landed UAV 108, the RPS 100 may positionthe UIS 300 into a nominal position 424 for removal of one or more SCs110 from the stationary UAV 108 via the SC swapping adapter 302. Afterremoval 422 of desired SC or SCs 110, the depleted SC or SCs 110, may beallocated 420 to an available MPB SCR 702 for replenishment or storage.The RPS 100 may return 418 an energized SC, or SCs 110, compatible tothe UIS 300 of the stationary UAV 108 and then install the “fullyenergerized” PC into the UAV 416. Dependent on an external power source428 supplied to a RPS 100, said depleted SC 110 is capable of beingenergized 430.

Once the RPS 100 has replenished the UIS 300 of the stationary UAV 108,said UAV 108 may be cleared 426 to leave the RPS 100. In consideration,before a UAV 108 is cleared to launch from an RPS 100, environmentalconditions 236 may be assessed to confirm safe flight possible for theUAV 108 based on inherent flight capabilities and may involve a primarysystems check and preflight check of the UAV 108.

FIG. 4b illustrates another variation for a method of SC 110 exchangewith an embodiment of an RPS 100. When the UAV 108 is in use, it maytransmit telemetry to an RPS 100 system 432 and the RPS 100 may receivethe telemetry and requested action by the UAV 434. This action may occurmultiple times in any given time period during UAV flight and may alsobe repeated for multiple UAVs which may be in use simultaneously.

In the event that the UAV 108 wants to download sensor or telemetry dataonly, the UAV 108 may begin downloading the data via wirelesstransmission 436, as previously described, and the RPS 100 may store thedata for retrieval at a later time or it may upload the data 438 to acommunications network 234, as previously described.

In the event that the SC 110 needs to be replaced, the RPS 100 maydetermine which replacement SC from the MPB 700 is to be queued and theUAV 108 is then placed in a landing queue 440 (depending on whetherother UAVs are queued for landing). Once the UAV 108 has landed 442 onthe landing zone 102 of the RPS 100, the mechanical and/or electricallink may be established 444 with the UAV 108, as previously described.The SC 110 may be removed 446 from the UAV 108 and a new SC may beloaded 448 into the UAV 108. The UAV 108 may then be cleared fortake-off 450 from the landing zone 102.

The RPS 100 may make a determination as to whether the RPS 100 isconnected to an external power source 454 in which case the depleted SC110 may be charged 452 accordingly. Otherwise, if the RPS 100 is notconnected to an external power source, the depleted SC 110 may be storedin a queue 456 within the MPB 700 or it may be charged by an internalpower source.

The applications of the disclosed invention discussed above are notlimited to the embodiments described, but may include any number ofother non-flight applications and uses. Modification of theabove-described methods and devices for carrying out the invention, andvariations of aspects of the invention that are obvious to those ofskill in the arts are intended to be within the scope of thisdisclosure. Moreover, various combinations of aspects between examplesare also contemplated and are considered to be within the scope of thisdisclosure as well.

What is claimed is:
 1. A power station for unmanned aerial vehicles(UAV), comprising: an enclosure defining a surface and an interior; anda landing zone positioned upon the surface and sized to receive one ormore UAV types, wherein the landing zone has one or more markers oremitters configured to generate one or more composite images when a UAVis in proximity to the landing zone.
 2. The power station of claim 1further comprising at least one modular power bay positioned within theinterior, the modular power bay defining one or more receiving bays forretaining a corresponding swap cartridge.
 3. The power station of claim2 further comprising one or more swap cartridges positioned within theone or more receiving bays.
 4. The power station of claim 3 furthercomprising a modular power bay status monitor configured to monitor astatus of the one or more swap cartridges.
 5. The power station of claim2 further comprising a swapping mechanism configured to load and/orretrieve a swap cartridge between the one or more receiving bays and theUAV after positioning upon the landing zone.
 6. The power station ofclaim 1 further comprising a central processor in communication with theone or more markers or emitters.
 7. The power station of claim 6 furthercomprising a sensor system in communication with the central processorand configured to optically determine an orientation of the UAV relativeto the landing zone.
 8. The power station of claim 6 further comprisingan external environment sensor in communication with the centralprocessor and configured to determine a condition of an externalenvironment.
 9. The power station of claim 6 further comprising atransmitter and receiver in communication with the central processor fortransmitting and receiving data via a communication network.
 10. Thepower station of claim 1 further comprising a mechanical connector andan electrical connector positioned upon the landing zone and configuredfor attachment to the UAV after positioning upon the landing zone. 11.The power station of claim 1 wherein the one or more markers or emittersare configured to emit visible or invisible signals when the UAV is inproximity to the landing zone.
 12. The power station of claim 1 whereinthe one or more markers or emitters are configured to generate one ormore composite images.
 13. The power station of claim 12 wherein the oneor more composite images are scalable in size depending on a distance ofthe UAV relative to the landing zone.
 14. The power station of claim 1further comprising at least one UAV which is positionable upon thelanding zone.
 15. The power station of claim 14 further comprising auniversal swap cartridge processor positionable upon the UAV and whichis in communication with the power station.
 16. A reconfigurable powerstation for unmanned aerial vehicles (UAV), comprising: a housingdefining a surface, one or more modular power bays positioned within thehousing, the modular power bay defining one or more receiving bays forretaining a corresponding swap cartridge; a landing zone positioned uponthe surface and sized to receive one or more UAV types, wherein thelanding zone has one or more markers or emitters configured to generateone or more composite images when a UAV is in proximity to the landingzone; and a central processor in communication with the one or moremarkers or emitters.
 17. The power station of claim 16 furthercomprising one or more swap cartridges positioned within the one or morereceiving bays.
 18. The power station of claim 16 further comprising amodular power bay status monitor configured to monitor a status of thecorresponding swap cartridge.
 19. The power station of claim 16 furthercomprising a swapping mechanism configured to load and/or retrieve aswap cartridge between the one or more receiving bays and the UAV afterpositioning upon the landing zone.
 20. The power station of claim 16further comprising a sensor system in communication with the centralprocessor and configured to optically determine an orientation of theUAV relative to the landing zone.
 21. The power station of claim 16further comprising an external environment sensor in communication withthe central processor and configured to determine a condition of anexternal environment.
 22. The power station of claim 16 furthercomprising a transmitter and receiver in communication with the centralprocessor for transmitting and receiving data via a communicationnetwork.
 23. The power station of claim 16 further comprising amechanical connector and an electrical connector positioned upon thelanding zone and configured for attachment to the UAV after positioningupon the landing zone.
 24. The power station of claim 16 wherein the oneor more markers or emitters are configured to emit visible or invisiblesignals when the UAV is in proximity to the landing zone.
 25. The powerstation of claim 16 wherein the one or more markers or emitters areconfigured to generate one or more composite images.
 26. The powerstation of claim 25 wherein the one or more composite images arescalable in size depending on a distance of the UAV relative to thelanding zone.
 27. The power station of claim 16 further comprising atleast one UAV which is positionable upon the landing zone.
 28. The powerstation of claim 27 further comprising a universal swap cartridgeprocessor positionable upon the UAV and which is in communication withthe power station.
 29. A method of swapping a power supply in anunmanned aerial vehicle (UAV), comprising: emitting one or morecomposite images to a UAV via one or more markers or emitters when theUAV is in proximity to a landing zone located on a reconfigurable powerstation (RPS); determining an orientation of the UAV relative to thelanding zone after the UAV has landed; removing a first swap cartridgefrom the UAV via a swapping mechanism within the RPS; and installing asecond swap cartridge from the RPS and into the UAV.
 30. The method ofclaim 29 further comprising receiving a request from the UAV by the RPSprior to emitting one or more composite image to the UAV.
 31. The methodof claim 30 wherein receiving a request comprises transmitting therequest via a universal swap cartridge processor positioned within orupon the UAV.
 32. The method of claim 31 further comprising receivingmission or payload data from the UAV via the universal swap cartridge.33. The method of claim 29 further comprising establishing a mechanicallink with the UAV prior to removing a first swap cartridge.
 34. Themethod of claim 33 further comprising establishing an electrical linkwith the UAV.
 35. The method of claim 29 wherein determining anorientation of the UAV comprises optically determining the orientation.36. The method of claim 29 wherein removing a first swap cartridgecomprises removing a depleted swap cartridge from the UAV.
 37. Themethod of claim 36 wherein installing a second swap cartridge comprisesinstalling an energized swap cartridge from the RPS and into the UAV.38. The method of claim 29 further comprising transmitting a clearancesignal for take-off to the UAV via the RPS.
 39. A UAV reconfigurablepower station (RPS), comprising: a dynamic terminal landing system (DTL)configured to support autonomous landing of a UAVs on a landing zone,wherein the DTL comprises a UAV landing zone that is reconfigurable formultiple UAV types and sizes and is further configured to supportlanding, exchanging a swap cartridge, and take-off operations; a powersource capable of powering a UAV flight system once on the landing zone;one or more modular power bays (MPBs) capable of housing multipleinstances of a given universal swap cartridge (SC); a universal swapcartridge swapping mechanism configured for manipulating multiple SCtypes and sizes; a RPS central processor (CP) configured to supportoperations of the RPS; and a sensor positioned within the RPS.
 40. TheRPS of claim 39, further comprising: a universal swap cartridgeprocessor (USP) configured to interact with the RPS; one or moreuniversal swap cartridge receptacles (SCRs) configured to mechanicallyand electrically connect a SC to a UAV; one or more SCs; and an externalmarker positioned on the SC that allows the RPS to determine a positionof the SC after the UAV has landed to allow for swapping of a depletedSC.
 41. The RPS of claim 39, further comprising: a landing zone havingvisible or non-visible markers to create a composite image to aid in thelanding of the UAV; and a composite image utilizing non-visibleilluminators on or embedded in the landing zone which are configured toform scalable composite images in response to a UAV type and altitudeabove the RPS landing zone.
 42. The RPS of claim 41 wherein thecomposite images range in size from 1 inch×1 inch to 26 inches×26 inchesor larger.
 43. The RPS of claim 41 wherein the composite images compriseQR barcodes or April tags.
 44. The RPS of claim 40 wherein the USP isconfigured to wirelessly transmit vehicle type, SC type, SC status,payload status, and data storage required to the RPS.
 45. The RPS ofclaim 39 wherein the CP is configured to control a SC swapping process.46. The RPS of claim 39 wherein the RPS further comprises: an externalsleeve encasing a UAV power source or payload; and one or more externalconnectors for measuring and/or transmitting power and status from thepower source.
 47. The RPS of claim 39 wherein the SC comprises a visualor IR marker, externally or internally.
 48. The RPS of claim 39 furthercomprising a mechanical mechanism for securing the SC.
 49. The RPS ofclaim 39 wherein the SC further comprises a geared tooth rack extrudedside protrusion.
 50. The RPS of claim 39 wherein MPB is configured tohouse multiple SCs.
 51. The RPS of claim 39 wherein the swappingmechanism comprises an elevator within the RPS.
 52. The RPS of claim 39wherein the RPS is connectable to an external power source forcontinuous operations.
 53. The RPS of claim 39 further comprising amechanism for mechanically retaining and/or electrically connecting aUAV to the landing zone.
 54. The RPS of claim 53 wherein the mechanismcomprises an electrical interface comprised of multiple terminals toallow power transmission from the RPS to the UAV during a SC exchange.55. The RPS of claim 53 wherein the mechanism comprises control armscapable of mechanically retaining the UAV to the landing zone.
 56. TheRPS of claim 53 wherein the mechanism comprises a wireless electricalinterface to allow power transmission from the RPS to the UAV during aSC exchange.
 57. A Universal Swap Cartridge Processor (USP), comprising:a housing configured to be integrated into a UAV flight controller orairframe; a processor within the housing and configured to control anautomated landing and launch of a UAV from an RPS; an externaltransmitter capable of wirelessly transmitting a power source health andidentifying data of an SC to the RPS, other UAVs in proximity, or otherground stations; an external receiver capable of wirelessly receivingdata from the RPS, other UAVs in proximity, or other ground stations,wherein the USP is configured to relay data to a UAV or UAV flightcontroller; and one or more cameras configured to capture visible and/ornon-visible data from a landing zone located on an RPS.